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1.
The present work describes the virtual prototyping procedure of car turn-signal switches using a dedicated haptic feedback
system. Although turn-signal switches have mechanisms with simple geometry, simulating the “feeling” during its operation
is still a challenge. In order to allow ergonomics designers to directly assess the comfort of operation, a dedicated haptic
system was developed for reproducing the force feedback that would characterize a real turn-signal switch. For the accurate
haptic feedback generation and rendering purpose, a detailed computer-aided design model of the switch was developed together
with a multibody simulation. For the design purpose a novel method for the synthesis of the cam mechanism was also developed,
starting from an imposed force profile that was previously validated on the haptic device, for which the cam geometry is determined.
Thus, the proposed approach enables the designer to also design the “feel” of the switch, and directly manufacture a good
model, simplifying the usual iterative process necessary to implement the desired force profile. Finally, an example of virtual
prototyping of a turn-signal switch is presented demonstrating the usability of the proposed method and the haptic system. 相似文献
2.
We present haptic simulation and volume modeling techniques for a virtual dental training system. The system allows dental
students to learn dental procedures and master their skills with realistic tactual feelings. It supports various dental procedures,
such as dental probing, to diagnose carious lesions, drilling operation for cavity preparation, and filling the prepared cavities
with amalgam. The system requires fast and stable haptic rendering and volume modeling techniques working on the virtual tooth.
Collision detection and force computation are implemented on an offset surface in volumetric representation to simulate reasonable
physical interactions between dental tools with a certain volume and the teeth model. To avoid discrete haptic feeling due
to the gap between the fast haptic process (1 KHz) and much slower visual update frequency (30 Hz) during drilling and filling
the cavities, we employed an intermediate implicit surface to be animated between the original and target surfaces. The volumetric
teeth model is converted into a geometric model by an adaptive polygonization method to maintain sharp features in every visual
frame. Volumetric material properties are represented by stiffness and color values to simulate the resistance and texture
information depending on anatomical tissues. Finally, we made a dental workbench to register sensory modalities like visual,
auditory and haptic sensation. 相似文献
3.
Immersion and interaction are two key features of virtual reality systems, which are especially important for medical applications.
Based on the requirement of motor skill training in dental surgery, haptic rendering method based on triangle model is investigated
in this paper. Multi-rate haptic rendering architecture is proposed to solve the contradiction between fidelity and efficiency
requirements. Realtime collision detection algorithm based on spatial partition and time coherence is utilized to enable fast
contact determination. Proxy-based collision response algorithm is proposed to compute surface contact point. Cutting force
model based on piecewise contact transition model is proposed for dental drilling simulation during tooth preparation. Velocity-driven
levels of detail haptic rendering algorithm is proposed to maintain high update rate for complex scenes with a large number
of triangles. Hapticvisual collocated dental training prototype is established using half-mirror solution. Typical dental
operations have been realized including dental caries exploration, detection of boundary within dental cross-section plane,
and dental drilling during tooth preparation. The haptic rendering method is a fundamental technology to improve immersion
and interaction of virtual reality training systems, which is useful not only in dental training, but also in other surgical
training systems.
Supported by National Natural Science Foundation of China (Grant Nos. 60605027, 50575011), National High-Tech Research & Development
Program of China (Grant No. 2007AA01Z310) 相似文献
4.
Rosa Iglesias Sara Casado Teresa Gutiérrez Alejandro García-Alonso Wai Yu Alan Marshall 《Multimedia Systems》2008,13(4):263-274
Stand-alone virtual environments (VEs) using haptic devices have proved useful for assembly/disassembly simulation of mechanical
components. Nowadays, collaborative haptic virtual environments (CHVEs) are also emerging. A new peer-to-peer collaborative
haptic assembly simulator (CHAS) has been developed whereby two users can simultaneously carry out assembly tasks using haptic
devices. Two major challenges have been addressed: virtual scene synchronization (consistency) and the provision of a reliable
and effective haptic feedback. A consistency-maintenance scheme has been designed to solve the challenge of achieving consistency.
Results show that consistency is guaranteed. Furthermore, a force-smoothing algorithm has been developed which is shown to
improve the quality of force feedback under adverse network conditions. A range of laboratory experiments and several real
trials between Labein (Spain) and Queen’s University Belfast (Northern Ireland) have verified that CHAS can provide an adequate
haptic interaction when both users perform remote assemblies (assembly of one user’s object with an object grasped by the
other user). Moreover, when collisions between grasped objects occur (dependent collisions), the haptic feedback usually provides
satisfactory haptic perception. Based on a qualitative study, it is shown that the haptic feedback obtained during remote
assemblies with dependent collisions can continue to improve the sense of co-presence between users with regard to only visual
feedback. 相似文献
5.
Experiments in haptic-based authentication of humans 总被引:1,自引:1,他引:0
Mauricio Orozco Matthew Graydon Shervin Shirmohammadi Abdulmotaleb El Saddik 《Multimedia Tools and Applications》2008,37(1):73-92
With the rapid advancement of the technological revolution, computer technology such as faster processors, advanced graphic
cards, and multi-media systems are becoming more affordable. Haptics technology is a force/tactile feedback technology growing
in disciplines linked to human–computer interaction. Similar to the increasing complexity of silicon-based components, haptics
technology is becoming more advanced. On the other hand, currently available commercial haptics interfaces are expensive,
and their application is mostly dedicated to enormous research projects or systems. However, the trend of the market is forcing
haptic developers to release products for use in conjunction with current keyboards and mice technologies. Haptics allows
a user to touch, fell, manipulate, create, and/or alter simulated three-dimensional objects in a virtual environment. Most
of the existing applications of haptics are dedicated to hone human physical skills such as sensitive hardware repair, medical
procedures, handling hazardous substances, etc. These skills can be trained in a realistic virtual world, and describe human
behavioural patterns in human–computer interaction environments. The measurement of such psychomotor patterns can be used
to verify a person’s identity by assessing unique-to-the-individual behavioural attributes. This paper explores the unique
behaviour exhibited by different users interacting with haptic systems. Through several haptic-based applications, users’
physical attributes output data from the haptic interface for use in the construction of a biometric system.
相似文献
Abdulmotaleb El SaddikEmail: |
6.
Amine Chellali Cédric Dumas Isabelle Milleville-PennelAuthor vitae 《Interacting with computers》2011,23(4):317-328
With the advent of new haptic feedback devices, researchers are giving serious consideration to the incorporation of haptic communication in collaborative virtual environments. For instance, haptic interactions based tools can be used for medical and related education whereby students can train in minimal invasive surgery using virtual reality before approaching human subjects. To design virtual environments that support haptic communication, a deeper understanding of humans′ haptic interactions is required. In this paper, human′s haptic collaboration is investigated. A collaborative virtual environment was designed to support performing a shared manual task. To evaluate this system, 60 medical students participated to an experimental study. Participants were asked to perform in dyads a needle insertion task after a training period. Results show that compared to conventional training methods, a visual-haptic training improves user′s collaborative performance. In addition, we found that haptic interaction influences the partners′ verbal communication when sharing haptic information. This indicates that the haptic communication training changes the nature of the users′ mental representations. Finally, we found that haptic interactions increased the sense of copresence in the virtual environment: haptic communication facilitates users′ collaboration in a shared manual task within a shared virtual environment. Design implications for including haptic communication in virtual environments are outlined. 相似文献
7.
This paper demonstrates a haptic device for interaction with a virtual environment. The force control is added by visual feedback
that makes the system more responsive and accurate. There are two popular control methods widely used in haptic controller
design. First, is impedance control when user motion input is measured, and then, the reaction force is fed back to the operator.
The alternative method is admittance control, when forces exerted by user are measured and motion is fed back to the user.
Both, impedance and admittance control are also basic ways for interacting with a virtual environment. In this paper, several
experiments were performed to evaluate the suitability of force-impedance control for haptic interface development. The difference
between conventional application of impedance control in robot motion control and its application in haptic interface development
is investigated. Open loop impedance control methodology is implemented for static case and a general-purpose robot under
open loop impedance control was developed as a haptic device, while a closed loop model based impedance control was used for
haptic controller design in both static and dynamic case. The factors that could affect to the performance of a haptic interface
are also investigated experimentally using parametric studies. Experimental results for 1 DOF rotational motion and 2 DOF
planar translational motion systems are presented. The results show that the impedance control aided by visual feedback broaden
the applicability of the haptic device and makes the system more responsive and accurate.
相似文献
J. SasiadekEmail: |
8.
A Survey of Haptic Rendering Techniques 总被引:3,自引:0,他引:3
Computer Graphics technologies have developed considerably over the past decades. Realistic virtual environments can be produced incorporating complex geometry for graphical objects and utilising hardware acceleration for per pixel effects. To enhance these environments, in terms of the immersive experience perceived by users, the human's sense of touch, or haptic system, can be exploited. To this end haptic feedback devices capable of exerting forces on the user are incorporated. The process of determining a reaction force for a given position of the haptic device is known as haptic rendering. For over a decade users have been able to interact with a virtual environment with a haptic device. This paper focuses on the haptic rendering algorithms which have been developed to compute forces as users manipulate the haptic device in the virtual environment. 相似文献
9.
Perception-based lossy haptic compression considerations for velocity-based interactions 总被引:1,自引:0,他引:1
The ability of technology to transmit multi-media is very dependent on compression techniques. In particular lossy compression
has been used in image compression (jpeg) audio compression (mp3) and video compression (mpg) to allow the transmission of
audio and video over broadband network connections. Recently the sense of touch or haptics is becoming more important with
its addition in computer games or in cruder applications such as vibrations in a cell phone. As haptic technology improves
the ability to transmit compressed force sensations becomes more critical. Most lossy audio and visual compression techniques
rely on the lack of sensitivity in humans to pick up detailed information in certain scenarios. Similarly limitations in the
sensitivity of human touch could be exploited to create haptic models with much less detail and thus requiring smaller bandwidth.
The focus of this paper is on the force thresholds of the human haptic system that can be used in a psychophysically motivated
lossy haptic (force) compression technique. Most of the research in this field has measured the just noticeable difference
(JND) of the human haptic system with a human user in static interaction with a stationary rigid object. In this paper our
focus involves cases where the human user or the object are in relative motion. An example of such an application would be
the haptic rendering of the user’s hand in contact with of a high-viscous material or interacting with a highly deformable
object. Thus an approach is presented to measure the force threshold based on the velocity of the user’s hand motion. Two
experiments are conducted to detect the absolute force threshold (AFT) of the human haptic system using methodologies from
the field of psychophysics. The AFTs are detected for three different ranges of velocity of the user’s hand motion. This study
implies that when a user’s hand is in motion fewer haptic details are required to be stored calculated or transmitted. Finally
the implications of this study on a more complete future study will be discussed.
相似文献
Eric KubicaEmail: |
10.
Chris Gunn 《Virtual Reality》2006,10(2):73-83
This paper introduces a haptic virtual environment in which two users can collaboratively sculpt a virtual clay model, working from different physical locations connected by the internet. They view their virtual sculpting tools and the clay model in 3D, feel the tool’s pressure on the clay as they work, and have their hands co-located with the view of the tool and model. Since the sculptors have independent views of the same logical environment, they can work at different zoom levels, and be in different coordinate systems, even spinning ones, at the same time. This provides them with the capability to explore new styles of collaborative creativity, working off each other’s initiative where appropriate. The system was designed to allow unrestrained, asynchronous behaviour by the collaborating sculptors. The paper describes the hardware as well as the algorithms behind the deformability of the clay surface and the communications model enabling the distance collaboration. It gives an explanation of the simple conflict resolution mechanism that haptic feedback facilitates and also reports on the results of a qualitative study into the creativity benefits of such a collaborative system. 相似文献
11.
精度高且实时性好的柔性触觉变形模型是实现触觉再现系统的关键。提出了一种新的基于物理意义的平行菱形链连接触觉变形模型,系统中各个链结构单元相对位移的叠加对外等效为物体表面的变形,与之相连的弹簧弹性力的合力等效为物体表面的接触力。使用Delta 6-DOF手控器,建立了触觉再现实验系统,对柔性体的接触变形和实时虚拟触觉反馈进行仿真, 实验结果表明所提出的模型不仅计算简单,而且能够保证触觉接触力和形变计算具有较高精度,满足虚拟现实系统对精细作业和实时性的要求。 相似文献
12.
Desktop haptic virtual assembly using physically based modelling 总被引:1,自引:0,他引:1
This research investigates the feasibility of using a desktop haptic virtual environment as a design tool for evaluating assembly
operations. Bringing virtual reality characteristics to the desktop, such as stereo vision, further promotes the use of this
technology into the every day engineering design process. In creating such a system, the affordability and availability of
hardware/software tools is taken into consideration. The resulting application combines several software packages including
VR Juggler, open dynamics engine (ODE)/open physics abstraction layer (OPAL), OpenHaptics, and OpenGL/GLM/GLUT libraries to
explore the benefits and limitations of combining haptics with physically based modelling. The equipment used to display stereo
graphics includes a Stereographics emitter, Crystal Eyes shutter glasses, and a high refresh rate CRT Monitor. One or two-handed
force feedback is obtained from various PHANTOM haptic devices from SensAble Technologies Inc. The application’s ability to
handle complex part interactions is tested using two different computer systems, which approximate the higher and lower end
of a typical engineer’s workstation. Different test scenarios are analyzed and results presented. 相似文献
13.
实时多组织虚拟手术的反馈力模拟 总被引:1,自引:1,他引:0
为了在虚拟下颌整形手术系统中提供实时和真实的触觉交互,分别构建了基于虚拟中介平面的推操作触觉模型、基于粘附力的拉操作触觉模型和基于非线性粘弹性的针刺触觉模型,以模拟皮肤拉钩、整形镊和针的典型手术操作;同时通过相邻组织间的动态触觉约束建立了多组织联合形变模型,以避免表面弹簧-质点模型形变过程中可能出现的表面间相互穿透的异常现象;并进一步将触觉交互模型和多组织形变模型集成于虚拟下颌手术系统,从而为医生提供一个手术训练的虚拟平台.触觉感知和交互效率的实验结果表明,通过触觉交互识别皮肤、肌肉和骨骼能够获得较高的识别正确率,并能提供实时的触觉和视觉交互体验. 相似文献
14.
Hiroshi Takada Norihiro Abe Yoshimasa Kinosita Hirokazu Taki Tatsushi Tokuyasu Shoujie He 《Artificial Life and Robotics》2009,14(2):150-153
In recent years, there have been various problems in medical treatments, of which human error by the surgeon in an operation
is one of the most serious. In order to minimize human error in an operation, we need a medical training system by which inexperienced
surgeons can try operating again and again to improve their skill. In this research, we construct a system of modeling a virtual
dense elastic object, and deforming that object using a haptic device called PHANToM. In the system which we construct, we
use two PCs to distribute the process of calculation, and SCRAMNet+ is used to connect each PC. PHANToM is used to operate
on the object and to express the force which is generated from the deformation of the object. We represent the dense object
by using voxels and tetrahedrons, and the elastic object by using a spring-mass model. A virtual dense elastic object is obtained
by computed tomography (CT) or magnetic resonance imaging (MRI) to express the patient’s organs. 相似文献
15.
16.
随着虚拟现实技术的进步,带有力感觉的仿真研究迅速发展,特别是在医学上得到了广泛应用。利用虚拟现实技术取代效率低下的常规培训,可以大大减少所需的培训时间和昂贵的动物实验费用。针对复杂的显微外科手术的血管缝合,作者建立了可用于大夫培训、手术规划的虚拟现实系统。其中的交互设备采用了具有力反馈功能的PHANTOM—Desktop,使用与之配套的GHOSTSDK软件开发包,建立虚拟环境。考虑到柔性体仿真的实时性和真实性要求,采用了质量一弹簧模型的建模方法。在完成了对虚拟环境中柔性平面仿真的基础上,成功实现了带有力感觉的显微外科血管穿刺的虚拟仿真。 相似文献
17.
This paper focuses on multiplayer cooperative interaction in a shared haptic environment based on a local area network. Decoupled motion control, which allows one user to manipulate a haptic interface to control only one‐dimensional movement of an avatar, is presented as a new type haptic‐based cooperation among multiple users. Users respectively move an avatar along one coordinate axis so that the motion of the avatar is the synthesis of movements along all axes. It is different from previous haptic cooperation where all users can apply forces on an avatar along any direction to move it, the motion of which completely depends on the resultant force. A novel concept of movement feedback is put forward where one user can sense other users’ hand motions through his or her own haptic interface. The concept can also be explained wherein one person who is required to move a virtual object along only one axis can also feel the motions of the virtual object along other axes. Movement feedback, which is a feeling of motion, differs from force feedback, such as gravity, collision force and resistance. A spring‐damper force model is proposed for the computation of motion feedback to implement movement transmission among users through haptic devices. Experimental results validate that movement feedback is beneficial for performance enhancement of such kind of haptic‐based cooperation, and the effect of movement feedback in performance improvement is also evaluated by all subjects.Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
18.
This study introduces a high‐fidelity tactile feedback mechanism to capture ergonomics attributes of users inside virtual product development cycle. The research question posed regards whether the tactile feedback mechanism in virtual experiment proposes high fidelity of ergonomics results when compared to physical experiment outcomes. This question was evaluated through an objective and a subjective study. Objective study was composed of an ergonomics product assessment experiment, where two different cart designs (a commercial cart and a prototype model) were evaluated for ergonomic adequacy (L4/L5 compression forces). Subjective evaluation was consisted of a questionnaire to assess subjects' preferences regarding which cart model they preferred in three different design categories; maneuverability, accessibility, and ergonomics. Results showed that tactile feedback mechanism was able to replicate the physical test conditions in virtual environment with high fidelity, and prototype cart model received higher mean ratings when compared to commercial cart model in each design category. 相似文献
19.
Haptic feedback usually involves two types of stimulation forces: forces that address the touch sense and forces that address the kinesthetic perception. Touch forces have a low intensity and a complex structure since they reflect contact phenomena where friction plays an important role. Therefore, they are quite difficult to simulate. Virtual prototyping with haptic feedback should ideally involve both types of forces, but the integration of the touch feeling makes the simulator very complex. In this paper, we present a novel concept for virtual prototyping in which the touch interaction is separated from the kinesthetic force feedback. This is possible using a prototype that has a real part undertaking the touch interaction and a virtual part that simulate feedback for the kinesthetic forces. In this way, a full haptic interaction with the virtual prototype is established by means of a device that provides a realistic simulation of the product. In order to illustrate the concept, several experiments have been carried out for the case of specific subsystems of a car, which are particularly involved in the driver–car interaction: steering system, clutch pedal and the gearshift. A user test is described in the last part as well as the conclusions of the research. 相似文献
20.
Alejandro F. Villaverde Cesáreo Raimúndez Antonio Barreiro 《International Journal of Control, Automation and Systems》2012,10(1):78-87
Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated
conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace.
With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive
not only visual but also tactile feedback, thus increasing maneuvering safety. Additionally, this capability is integrated
in a teleoperation setup, adopting a passivity-based control approach that guarantees overall stability. This includes also
the design of controllers by means of the IDA-PBC method. Experimental results carried out with a laboratory crane show its
feasibility for internet-based teleoperation and demonstrate the improvements on the system performance. 相似文献